Introduction to Microcontrollers Using Arduino

PhilPhilRoboticsRobotics

Objectives

� Know what is a microcontroller� Learn the capabilities of a microcontroller� Understand how microcontroller execute

instructions

Objectives

� Learn how to program a microcontroller using Arduino

– Configure a pin (Input, Output, Analog, PWM)

– Write Output State– Read Input State– Read Analog Input– Use PWM

Microcontrollers

� History of Microcontrollers− 1971

� Intel 4004 was released� First microprocessor� Followed by 8008 and then 8080

− 1975� Intel 8048 was released� Intel President, Luke J. Valenter� First Microcontroller

Microcontrollers

� Zilog, founded by Federico Faggin

� Z80� Gameboy, TI Calculators

− 1979� Decided to shift to embedded

space� Introduced Z8

Microcontrollers

� Microchip� PIC16x84 was released� First with EEPROM program

memory− 1993

� Atmel � First microcontroller with Flash

memory

Microcontrollers

� History of Microcontrollers− At present

� Several companies followed the use of flash memory

Microcontrollers

� Abstract Definition− An IC (Integrated Circuit)− Configurable Pins− Programmable Function− With Built-in Memory

� RAM� ROM

Microcontrollers

� Abstract Definition− An IC (Integrated Circuit)− Configurable Pins− Programmable Function− With Built-in Memory

� RAM� ROM

− Has Built-in Peripherals� Timer� ADC� UART/SPI/I2C� PWM� Comparators

Popular Microcontrollers

� PIC16F84a− Developed by Microchip− Widely used by hobbyist in the late 90’s− Very basic function− Later replaced by pin compatible PIC16F628a

� PIC16F877a− Developed by Microchip− Greater pin count than PIC16F84a− Has ADC, PWM, UART− and is self programmable

� PIC18F2550− Developed by Microchip− With USB connectivity− Used on Pinguino (Arduino equivalent for PIC)

� AtMega168− Developed by Atmel− Widely used microcontroller on Arduino

Atmega168

� Microcontroller Developed by Atmel� 8-bit Microcontroller� 28pins� 16Kbytes Flash Memory

� “Self-Programmable”

Atmega168

Basic Setup

� AtMega168

Basic Setup

� Breadboard

Basic Setup

� Supply

Basic Setup

� Supply

Basic Setup

� Crystal Oscillator

Basic Setup

� Crystal Oscillator

Basic Setup

� Resonator Bypass

Basic Setup

� Resonator Bypass

Basic Setup

� Reset Pullup

Basic Setup

� Reset Pullup

Basic Setup

� Filter Capacitor

Basic Setup

� Filter Capacitor

Basic Setup

� Bypass Capacitor

Basic Setup

� Bypass Capacitor

Basic Setup

� Reset Switch

Basic Setup

� Reset Switch

Basic Setup

� ADC Supply

Atmega168

� Specifications− Pins

� 23 General Purpose IOs

Outputs

Inputs

Atmega168

� 23 General Purpose IOs� 6 Channel 10bit ADC

Atmega168

� 23 General Purpose IOs� 6 Channel 10bit ADC� 6 PWM Channels

− With Built-in Memory� 16 KBytes ROM� 1 KBytes RAM� 512 Bytes EEPROM

Von Neuman

Hardvard

Programming Basic

� Challenge I− Instruct the robot to draw a 10cm x 10cm yellow

square starting 5cm from top and 5cm from the left side of the paper.

Programming Basic

� Challenge II− Instruct the robot to draw that same square

mentioned on Challenge I 10 times more .

Programming Basic

� Challenge III− Instruct the robot to draw that same square for

sets 10 pieces of paper forever …

How MCU Execute Instructions

� Pipeline

Who is Arduino?

What is Arduino

� A project which began in Ivrea (Italy) in 2005– Massimo Banzi– David Cuartielles

� device for controlling student-built interaction design

– less expensive– more modern– than what is available– Basic Stamp

What is Arduino

� Open Source Hardware –Based on Wiring

� Open Source Software–Based on Processing

� Multi-patform� Programmed via USB

What is Arduino

� named the project after a local bar– italian masculine first name– "strong friend "– English equivalent is "Hardwin"

What is Arduino

Arduino

Gizduino

Getting Started with Arduino

� Arduino IDE

� Arduino IDE– Homepage: http://arduino.cc/– Download: http://arduino.cc/en/Main/Software– arduino-00xx.zip

� Device Driver– Gizduino uses prolific chiphttp://www.prolific.com.tw/eng/downloads.asp?id=31

� Testing the Arduino– Run Clip 2...

� Virtual Breadboard

� Virtual Breadboard– Run clip 3...

� Virtual Breadboard– Homepage:

http://www.virtualbreadboard.net/– Download:

http://www.virtualbreadboard.net/Download/tabid/150/Default.aspx

� Virtual Breadboard– Dependencies

• Latest version of DirectX • .Net 2.0 Redistributable• J# 2.0 Redistributable• Java JRE 1.6 ( version 6)

� Source Code� Application� Programmer� Sketch� IDE (Integrated Design Environment)

Arduino Programming

� Setup and Loop

void setup() {

void loop() { }

Arduino Programming

� Setup()− called when a sketch starts running− use it to initialize

� variables, � pin modes, � start using libraries

− will only run once , after each powerup or reset of the Arduino board

Arduino Programming

� Setup()int LEDPin;

void setup() {

LEDPin = 13;pinMode(LEDPin, OUTPUT); digitalWrite(LEDPin, LOW);

} void loop() {

Arduino Programming

� Setup()int LEDPin;

void setup() {

} void loop() {

Arduino Programming

� Loop()− Executed repeatedly − Allows the program to change and respond.

Arduino Programming

� Loop()int LEDPin;

// setup initializes the LED pin as output // and initially turned offvoid setup() {

} // loop checks the button pin each time, void loop() {

delay(500);digitalWrite(LEDPin, HIGH);delay(500);digitalWrite(LEDPin, LOW);

Arduino Programming

� Loop()int LEDPin;

// setup initializes the LED pin as output // and initially turned off void setup() {

Arduino Programming

� Functions– a small set / group of instructions

designed to operate on its given input

Read more: http://wiki.answers.com/Q/What_is_function_in_C#ixzz1AhkkJ9RB

Arduino Programming

� Functions

int get_Sum(int Var1, int Var2) {

return Var1 + Var2;}

return type function name parameter list

function expressions

Arduino Programming

� Function name– Unique identifier for a function

� Parameter / Argument List– Inputs to a function

� Function Return– Output of a function

� Expressions– Describes what a function do

Arduino Programming

� Calling a Functions

void loop(){

result = get_Sum(2,3);}

int get_Sum(int Var1, int Var2) { return Var1 + Var2;}

will give us a result of 5

functions must be defined before it can be used

Arduino Programming

� Arduino Built-in Functions– Predefined functions to easily configure

Arduino• Pin Operation• Peripheral Operation

– shortcuts

Arduino Programming

� pinMode(pin, mode)– Configures a digital pin to behave either as

an input or an output– pin: the pin number whose mode you wish to

set– mode: either INPUT or OUTPUT

� Example

pinMode(13, OUTPUT);

Arduino Programming

� digitalWrite(pin, value)– Write a HIGH or a LOW value to a digital pin– pin: the pin number whose value you wish to

set– value: either HIGH or LOW

� Example

digitalWrite(13, HIGH);

Arduino Programming

� digitalRead(pin)– Reads the value from a specified digital pin– pin: the digital pin number you want to read– returns either HIGH or LOW

� Example

result = digitalRead(13);

Arduino Programming

� analogRead(pin)– Reads the value from a specified analog pin– pin: the analog pin number you want to read– returns an integer (0 to 1023)corresponding

to pin voltage� Example

result = analogRead(13); result = pinV * 1023/Vref

Arduino Programming

� analogWrite(pin, value)– Writes an analog value (PWM wave) to a pin– pin will generate a steady square wave of the

specified duty cycle– 490 Hz

Arduino Programming

� analogWrite(pin, value)– Can be used to vary

• Brightness of LED• Speed of the motor

– Output a sound• Low Pass Filter needed

Arduino Programming

� analogWrite(pin, value)– pin: the pin to write to– value: the duty cycle: between 0 (always off)

and 255 (always on)� Example

analogWrite(9, 127); Duty_Cycle = value / 255 * 100% ~50% = 100 / 255 * 100%

Arduino Programming

� analogWrite(pin, value)

Arduino Programming

� delay(value)– Pauses the program for the amount of time– value: the number of milliseconds to pause

� Example

delay(1000); will pause for 1000ms, equivalent to 1sec pause

Arduino Programming

� Blinking LED Exampleint LEDPin;

Arduino Programming

� Commentsint LEDPin;

Arduino Programming

� Commentsint LEDPin;

Arduino Programming

� Comments− Starts with characters ‘//’− Text after the start marker are ignored by the

compiler− This is for the programmer (person)

Arduino Programming

int LEDPin;

Arduino Programming

� Variablesint LEDPin;

LEDPin = 13;pinMode( LEDPin, OUTPUT); digitalWrite( LEDPin, LOW);

Arduino Programming

� Variables– memory location in RAM that carries a value

� Variables must be declared– name is chosen to uniquely identify a

variable– the type defines

• how much memory is used• and how it is stored

Arduino Programming

� Data TypesType Description Sample

boolean boolean true, false

char character A-Z, a-z, CR, LF

unsigned char same as byte 0 -255

byte occupies 1 byte / 8bits 0 - 255

int integer, occupies 2 bytes / 16bit -32,768 to 32,767

unsigned int unsigned integer, occupies 2 bytes / 16bit 0 to 65,535

word same as unsigned int 0 to 65,535

long long integer, 4bytes / 32bits -2,147,483,648 to 2,147,483,647

unsigned long unsigned long integer, 4bytes / 32bits 0 to 4,294,967,295

float floating point, decimal point, 4bytes / 32bits 6-7 decimal digits

Arduino Programming

� Declaring a Variables

int VariableName1;

Arduino Programming

int VariableName1;

type name

Arduino Programming

int VariableName1;byte VariableName2

type name

Arduino Programming

int VariableName1;byte VariableName2 // not terminated by semicolon

type name

Arduino Programming

int VariableName1;byte VariableName2 // not terminated by semicolonint VariableName3, VariableName4, VariableName5;

type name

Arduino Programming

int VariableName1;byte VariableName2 // not terminated by semicolonint VariableName3, VariableName4, VariableName5;

type name

Arduino Programming

int VariableName1;byte VariableName2 // not terminated by semicolonint VariableName3, VariableName4, VariableName5;void Variavle6;

data type name

Arduino Programming

int VariableName1;byte VariableName2 // not terminated by semicolonint VariableName3, VariableName4, VariableName5;void Variavle6; // there is no void type

data type name

Arduino Programming

� Naming a Variable– Starts with an alphabet character– No spaces, no special characters

int 1Delta;

Arduino Programming

int 1Delta; // variable names cannot start // with numbers

Arduino Programming

byte Delta1;

Arduino Programming

byte Delta1;int Serial Number;

Arduino Programming

byte Delta1;int Serial Number; // must contain no spaces

// SerialNumber// Serial_Number

Arduino Programming

int Serial,Number;

Arduino Programming

int Serial,Number; // These are 2 different variab les// having an integer type

Arduino Programming

� Assigning Valuesint LEDPin;

Arduino Programming

� Assigning Valuesint LEDPin;

LEDPin = 13;pinMode( LEDPin, OUTPUT); digitalWrite( LEDPin, LOW);

Arduino Programming

� Assigning Valuesint LEDPin = 13;

pinMode( LEDPin, OUTPUT); digitalWrite( LEDPin, LOW);

Arduino Programming

� Decision Making– “if” statement– used to compare

• variable to a variable

if(variable1 > variable2){

function();}

• variable to a constant

if(variable1 > 2){

function();}

Arduino Programming

� Decision Making– execute the statement enclosed between { }

if condition is satisfied

if(variable1 > variable2){ function1();}

function2();

Arduino Programming

� Decision Making– Comparison operator

• Less than “<”• Greater than “>”• Equal “==”• Not equal “!=”• Less than or equal “<=”• Greater than or equal “>=”

Arduino Programming

� Decision Making– “if/else” statement– execute the statement enclosed between { }

if condition is satisfied– execute the statement enclosed between { }

after “else” when not

function1();}else{

function2();}

Arduino Programming

� Decision Making– Nested “if/else” statement

function1();}else if(variable1 < variable2){

function2();}

Arduino Programming

� Decision Making– Nested “if/else” statement

function1();}else if(variable1 < variable2){

function2();}else{

function3();}

Arduino Programming

� Blinking LED Exampleint LEDPin = 13;

void setup() {

pinMode(LEDPin, OUTPUT); // set pin 13 outputdigitalWrite(LEDPin, LOW); // Set initially to off

} void loop() {

delay(500);digitalWrite(LEDPin, HIGH); // Turn LED ondelay(500);

digitalWrite(LEDPin, LOW); // Turn LED off}

Arduino Programming

� Blinking LED Exampleint LEDPin = 13, SWITCHPin = 12, PinState;

void setup() {

pinMode(SWITCHPin, INPUT); // set pin 12 input} void loop() {

delay(500);digitalWrite(LEDPin, HIGH); // Turn LED ondelay(500);

digitalWrite(LEDPin, LOW); // Turn LED off PinState = digitalRead(SWITCHPin);}

Arduino Programming

� Better Blinking LED Exampleint LEDPin = 13, SWITCHPin = 12, PinState, ledState;unsigned long previousMillis;

void setup() {

pinMode(SWITCHPin, INPUT); // set pin 12 input} void loop() { unsigned long currentMillis = millis(); if(currentMillis - previousMillis >= 500) // chec k if >= 500mS { previousMillis = currentMillis; // initiali ze prev with current

// if the LED is off turn it on and vice-versa: if (ledState == LOW) { ledState = HIGH; } else { ledState = LOW; }

digitalWrite(LEDPin, ledState); // Turn LED on/off } PinState = digitalRead(SWITCHPin);}

Arduino Programming

� Better Blinking LED Exampleint LEDPin = 13, SWITCHPin = 12, PinState, LEDState ;unsigned long previousMillis;

void setup() {

Arduino Programming

void setup() {

pinMode(SWITCHPin, INPUT); // set pin 12 input} void loop() { unsigned long currentMillis = millis(); if(currentMillis - previousMillis >= 500) // check if >= 500mS { previousMillis = currentMillis; // initiali ze prev with current

Arduino Programming

void setup() {

Arduino Programming

� Decision Making– Logical / boolean operator

• Logic AND && • Logic OR ||• Logic Not or Inversion !

Arduino Programming

void setup() {

Arduino Programming

� Better Blinking LED Exampleint LEDPin = 13, SWITCHPin = 12, PinState;unsigned long previousMillis;boolean LEDOn;

void setup() {

// if the LED is off turn it on and vice-versa: if (LEDOn) { LEDOn = false; } else { LEDOn = true; }

digitalWrite(LEDPin, LEDOn); // Turn LED on/off } PinState = digitalRead(SWITCHPin);}

Arduino Programming

� Better Blinking LED Exampleint LEDPin = 13, SWITCHPin = 12, PinState;unsigned long previousMillis;boolean LEDOn, BlinkEnabled = TRUE;

void setup() {

// if the LED is off turn it on and vice-versa: if (LEDOn && BlinkEnabled) { LEDOn = false; } else { LEDOn = true; }

digitalWrite(LEDPin, LEDOn); // Turn LED on/off } PinState = digitalRead(SWITCHPin);}

Arduino Programming

� Better Blinking LED Exampleint LEDPin = 13, SWITCHPin = 12;unsigned long previousMillis;boolean LEDOn, BlinkEnabled;

void setup() {

// if the LED is off turn it on and vice-versa: if (LEDOn && BlinkEnabled) { LEDOn = false; } else { LEDOn = true; }

digitalWrite(LEDPin, LEDOn); // Turn LED on/off } BlinkEnabled = !digitalRead(SWITCHPin);}

Arduino Programming

� Looping– “for” loop– execute expressions enclosed between {}– continuously as long as a condition is

satisfied

for(i = 1; i <= 10; i++){ function(); }

Starting Count Limit Increment

Arduino Programming

� Libraries#include <Servo.h> Servo myservo; // create servo object to control a servo // a maximum of eight servo objects can be created int pos = 0; // variable to store the servo posi tion void setup() { myservo.attach(9); // attaches the servo on pin 9 to the servo object } void loop() { for(pos = 0; pos < 180; pos += 1) // goes from 0 degrees to 180 degrees { // in steps of 1 degree myservo.write(pos); // tell servo to go to position in variable

'pos' delay(15); // waits 15ms for the servo to reach the

position } for(pos = 180; pos>=1; pos-=1) // goes from 1 80 degrees to 0 degrees { myservo.write(pos); // tell servo to go to position in variable

'pos' delay(15); // waits 15ms for the servo to reach the

position }

Reference

� www.arduin.cc� Arduino Programming Notebook� Getting Started with Arduino 3rd Edition

Beyond Arduino

� Processing

Beyond Arduino

� Toolduino

Beyond Arduino

� Mobile Processing

Beyond Arduino

� S4A (Scratch for Arduino)

Beyond Arduino

� P-Bot

Beyond Arduino

� P-Bot

Questions, Comments, Suggestions

� glutnix.neo on gmail� glutnix_neo → electronicslab.ph/forum

Arduino

End of Presentation01/22/11

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